US10475211B2 - Method, information processing apparatus and non-transitory computer-readable storage medium - Google Patents

Method, information processing apparatus and non-transitory computer-readable storage medium Download PDF

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US10475211B2
US10475211B2 US15/880,665 US201815880665A US10475211B2 US 10475211 B2 US10475211 B2 US 10475211B2 US 201815880665 A US201815880665 A US 201815880665A US 10475211 B2 US10475211 B2 US 10475211B2
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animals
attachment objects
colors
images
condition
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US20180260976A1 (en
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Hiroya Watanabe
Shinji Shigeno
Kenji Kodama
Akihito Kanamori
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Fujitsu Ltd
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Fujitsu Ltd
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/90—Determination of colour characteristics
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K29/00—Other apparatus for animal husbandry
    • A01K29/005—Monitoring or measuring activity
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image

Definitions

  • the present disclosure relates to a method, an information processing apparatus and a non-transitory computer-readable storage medium.
  • Dairy farmers not only raise cows, perform milking, and the like, but also assist breeding cows with calf delivery.
  • the delivery assistance of breeding cows is not suitably carried out, there is an increasing risk of death during or shortly after birth and the death of the dam.
  • a rancher performs regular patrols and routinely monitoring camera feeds to observe the bovine activity and to determine whether or not there are any signs of an impending calf delivery.
  • a method performed by a computer includes obtaining a plurality of images each of which includes a plurality of animals, the plurality of animals being attached with a plurality of attachment objects respectively, the attachment objects having respective different colors, using at least one image among the plurality of images, detecting the colors of the plurality of attachment objects respectively, based on the colors of the plurality of attachment objects, using the plurality of images, detecting movements of the plurality of respective attachment objects, and in accordance with the respective movements of the plurality of detected attachment objects, determining respective activity quantities of the plurality of animals.
  • FIG. 1 is a diagram illustrating an example of a system according to the present embodiment.
  • FIG. 2 is a functional block diagram illustrating the configuration of an activity quantity calculation apparatus according to the present embodiment.
  • FIG. 3 is a diagram illustrating an example of an HSV color space.
  • FIG. 4 is a diagram illustrating an example of the data structure of recognition parameters.
  • FIG. 5 is a diagram illustrating an example of the data structure of a detection table.
  • FIG. 6 is a diagram illustrating an example of the data structure of an activity quantity table.
  • FIG. 7 is an explanatory diagram (1) of an example of the processing of an identification unit.
  • FIG. 8 is an explanatory diagram (2) of an example of the processing of an identification unit.
  • FIG. 9 is a flowchart illustrating a processing procedure for identifying the color of a collar.
  • FIG. 10 is a flowchart illustrating a processing procedure for calculating the activity quantity of a cow.
  • FIG. 11 is a diagram illustrating an example of the hardware configuration of a computer that realizes the same functions as those of the activity quantity calculation apparatus.
  • the farmer may accommodate a plurality of domestic animals in the same delivering chamber.
  • the plurality of domestic animals are included in an image captured by the same camera, it is difficult to distinguish the collar attached to each domestic animal, and thus it has not been possible to calculate the activity quantity of each domestic animal.
  • the collar of a domestic animal has been referred to, but the problem occurs in the same manner when an attachment object other than a collar is attached to a domestic animal, and such an attachment object is detected.
  • an activity quantity calculation program capable of calculating the activity quantities of a plurality of animals, an activity quantity calculation method, an activity quantity calculation apparatus, and an animal monitoring system.
  • FIG. 1 is a diagram illustrating an example of a system according to the present embodiment. As illustrated in FIG. 1 , this system includes a camera 10 and an activity quantity calculation apparatus 100 . The camera 10 and the activity quantity calculation apparatus 100 are mutually coupled via a network 50 .
  • the camera 10 is installed in a cowshed 1 .
  • a cowshed 1 a plurality of cows having collars of predetermined colors are kept.
  • cows 5 a , 5 b , and 5 c are kept.
  • the cows 5 a , 5 b , and 5 c are each fitted with respective collars 6 a , 6 b , and 6 c having different colors.
  • the imaging range of the camera 10 is sufficient to include the cows 5 a , 5 b , and 5 c .
  • the camera 10 transmits the information of the captured moving image information to the activity quantity calculation apparatus 100 .
  • the information of the moving image is information including a plurality of consecutive image frames.
  • an image frame is suitably denoted by a captured image.
  • the activity quantity calculation apparatus 100 is an apparatus that analyzes an image captured by the camera 10 and performs processing to individually detect the collars 6 a to 6 c attached to the cows 5 a to 5 c for each captured image so as to calculate the activity quantities of the cows 5 a to 5 c.
  • FIG. 2 is a functional block diagram illustrating the configuration of an activity quantity calculation apparatus according to the present embodiment.
  • the activity quantity calculation apparatus 100 includes a communication unit 110 , an input unit 120 , a display unit 130 , a storage unit 140 , and a control unit 150 .
  • the communication unit 110 is a processing unit that performs data communication with the camera 10 via the network 50 illustrated in FIG. 1 .
  • the control unit 150 described later, receives information of moving images of the cowshed 1 from the camera 10 via the communication unit 110 . Also, the communication unit 110 may perform communication with other external devices via the network 50 .
  • the communication unit 110 corresponds to a communication device.
  • the input unit 120 is an input device for inputting various kinds of information to the activity quantity calculation apparatus 100 .
  • the input unit 120 corresponds to a keyboard, a mouse, a touch panel, or the like.
  • a manager operates the input unit 120 to set recognition parameters 140 b described later, or the like.
  • the display unit 130 is a display device that displays various kinds of information output from the control unit 150 .
  • the display unit 130 corresponds to a liquid crystal display, a touch panel, or the like.
  • the storage unit 140 includes a buffer 140 a , recognition parameters 140 b , a detection table 140 c , and an activity quantity table 140 d .
  • the storage unit 140 corresponds to a semiconductor memory element, such as a random access memory (RAM), a read only memory (ROM), a flash memory, or the like, or a storage device, such as a hard disk drive (HDD), or the like.
  • RAM random access memory
  • ROM read only memory
  • HDD hard disk drive
  • the buffer 140 a is a buffer that stores information of the moving images transmitted from the camera 10 .
  • the information of moving images is information of a plurality of captured images associated with time.
  • the recognition parameters 140 b are pieces of information that define the characteristics of the colors of the collars 6 a to 6 c to be detected in an HSV (hue, saturation, and brightness) color space.
  • FIG. 3 is a diagram illustrating an example of an HSV color space.
  • the HSV color space includes hue, saturation, and brightness components.
  • hue is a component expressed by value that indicates the kind of color and is defined in the range of 0 to 360°.
  • Saturation is a value that defines vividness of color and is set in the range of 0 to 255.
  • Brightness is a value that indicates lightness of color and is set in the range of 0 to 255.
  • FIG. 4 is a diagram illustrating an example of the data structure of recognition parameters.
  • the hue range, the range of saturation, and the range of brightness are associated with each other for each piece of identification information.
  • the identification information is information that uniquely identifies each collar.
  • the hue range of a collar is set so as not to overlap the hue ranges of the other collars.
  • the hue range of each collar is set in a range that excludes a hue included in a predetermined area of the cowshed 1 .
  • the range of saturation and brightness for each collar may have overlapping areas.
  • the hue range corresponding to the collar 6 a is “H 1 ° to H 2 °”, the range of saturation thereof is “140 to 200”, and the range of brightness thereof is “B 1 to B 2 ”.
  • the range of hue corresponding to the collar 6 b is “H 3 ° to H 4 °”, the range of saturation thereof is “140 to 200”, and the range of brightness thereof is “B 1 to B 2 ”.
  • the range of hue corresponding to the collar 6 c is “H 5 ° to H 6 °”, the range of saturation thereof is “140 to 200”, and the range of brightness thereof is “B 1 to B 2 ”.
  • the detection table 140 c is a table holding the position of a collar in the captured image for each time.
  • FIG. 5 is a diagram illustrating an example of the data structure of the detection table. As illustrated in FIG. 5 , the detection table 140 c associates identification information, time, and coordinates with one another. Identification information refers to information that uniquely identifies a collar. Time refers to when the coordinates are identified. Coordinates refer to the coordinates of the collar detected from the captured image. For example, the first row of the record indicates that the collar 6 a is positioned at the coordinates “xa1, ya1” in the image captured at time “t 1 ”.
  • the activity quantity table 140 d is a table that holds information regarding the activity quantity of each of the cows 5 a to 5 c .
  • FIG. 6 is a diagram illustrating an example of the data structure of the activity quantity table. As illustrated in FIG. 6 , the activity quantity table 140 d associates the identification information with the activity quantity.
  • the identification information is information used uniquely to identify each collar.
  • the activity quantity is information that indicates the activity quantity of a cow fitted with a collar. For example, the activity quantity is a value produced by accumulating the activity quantity in a predetermined time period. In this regard, as illustrated in FIG. 1 , it is assumed that if a collar is identified, the corresponding cow is identified.
  • the control unit 150 includes an acquisition unit 150 a , an identification unit 150 b , and a calculation unit 150 c . It is possible to realize the control unit 150 by using a central processing unit (CPU), a micro processing unit (MPU), or the like. Also, it is possible to realize the control unit 150 by hard-wired logic, such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like.
  • CPU central processing unit
  • MPU micro processing unit
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the acquisition unit 150 a is a processing unit that receives information of moving images from the camera 10 and records the information of the moving images in the buffer 140 a .
  • the information of the moving images is information including a plurality of consecutive captured images.
  • each captured image includes images of a plurality of collars 6 a to 6 b (cows 5 a to 5 c ).
  • collars are not attached to the cows 5 a to 5 c.
  • the identification unit 150 b is a processing unit that identifies the ranges of hue of the recognition parameters 140 b .
  • the identification unit 150 b displays the information of the identified range of hue on the display unit 130 .
  • the manager refers to the hue range displayed on the display unit 130 and determines the color of a collar to be attached to a cow. In the following, a description will be given of an example of the processing by the identification unit 150 b.
  • the identification unit 150 b operates in the parameter setting phase.
  • the identification unit 150 b obtains, from the buffer 140 a , captured images of the cows 5 a to 5 c that are captured on the condition that the collars are not attached to the cows 5 a to 5 c .
  • the images captured on the condition that the collars are not attached to the cows 5 a to 5 c are denoted by “set images”.
  • Information of whether or not the current phase is the parameter setting phase is notified to the identification unit 150 b by the manager operating the input unit 120 . Also, in the parameter setting phase, it is assumed that the manager removes the collars from the cows 5 a to 5 c in advance.
  • the identification unit 150 b analyzes the image in a predetermined area out of a set image so as to determine the hue included in the predetermined area.
  • FIG. 7 is an explanatory diagram (1) of an example of the processing of an identification unit.
  • a predetermined area 15 a is set.
  • the predetermined area 15 a is an area covering the activity ranges of the cows 5 a to 5 c and an area specified by the manager in advance.
  • the identification unit 150 b performs processing for determining the hue in the HSV color space based on a pixel value included in the predetermined area 15 a for each pixel so as to identify the hue range of the predetermined area 15 a .
  • the hue range of the predetermined area 15 a is denoted as a “range to be excluded”.
  • the identification unit 150 b assigns a range that does not overlap the range to be excluded out of the hue range 0° to 360° to the hue range of each piece of identification information.
  • FIG. 8 is an explanatory diagram (2) of an example of the processing of an identification unit.
  • the hue range is denoted by 0° to 360°.
  • the identification unit 150 b identifies the ranges of hue of the recognition parameters 140 b from the hue range 30 b . If the number of cows is n, the identification unit 150 b divides the hue range 30 b equally into n parts and assigns each part to the hue range to be assigned to each collar.
  • the identification unit 150 b identifies the hue range to be assigned to each of the collars 6 a to 6 c of the respective cows 5 a and 5 b as the hue ranges 31 a , 31 b , and 31 c and sets the ranges of hue in the recognition parameters 140 b .
  • the identification unit 150 b displays the information (hue ranges 31 a , 31 b , and 31 c ) of the identified range of hue on the display unit 130 .
  • the manager refers to the information of the ranges of hue displayed on the display unit 130 and determines the color of individual collars 6 a to 6 c of the cows 5 a and 5 b .
  • the manager creates the collars 6 a to 6 c and then attaches the collars 6 a to 6 c to the respective cows 5 a to 5 c.
  • the manager attaches the collars 6 a to 6 c to the respective cows 5 a to 5 c and may then operate the input unit 120 to access the recognition parameters 140 b to suitably modify the corresponding relationship between the identification information and the hue range.
  • the calculation unit 150 c operates in the activity quantity calculation phase.
  • the calculation unit 150 c detects the movements of the collars 6 a to 6 c attached to respective cows 5 a to 5 c based on a plurality of captured images.
  • the calculation unit 150 c calculates the activity quantities of the cows 5 a to 5 c in accordance with the movements of the collars 6 a to 6 c .
  • the calculation unit 150 c performs processing for detecting the coordinates of the collars and processing for calculating the activity quantities.
  • the calculation unit 150 c compares the captured image stored in the buffer 140 a and the recognition parameters 140 b .
  • the calculation unit 150 c identifies an area having the hue, the saturation, the brightness that are included in the hue range, the range of saturation, and the range of brightness that are defined in the recognition parameters 140 b for each identification information among the area included in the captured image.
  • the calculation unit 150 c identifies an area corresponding to the hue, the saturation, and the brightness of the identification information “collar 6 a ”, an area corresponding to the hue, the saturation, and the brightness of the identification information “collar 6 b ”, and an area corresponding to the hue, the saturation, and the brightness of the identification information “collar 6 c”.
  • the calculation unit 150 c determines the center-of-gravity coordinates of each identified area as the coordinates as the collars 6 a , 6 b , and 6 c .
  • the calculation unit 150 c records the information that associates time of the captured image and the coordinates of the collars 6 a to 6 c in the detection table 140 c .
  • the calculation unit 150 c repeatedly performs the above-described processing for a plurality of captured images so as to record the relationship between each time and the coordinates of the collars 6 a to 6 c in the detection table 140 c.
  • the calculation unit 150 c refers to the detection table 140 c and calculates the amount of change of a collar in a lapse of a predetermined time period.
  • a description will be given of the case of calculating the activity quantity of the collar 6 a (cow 5 a ) as an example.
  • the calculation unit 150 c refers to the detection table 140 c , and calculates the amount of change of the coordinates of the collar 6 a for each predetermined time period. It is assumed that the predetermined time period is set by the manager in advance. The calculation unit 150 c sums up the amount of change in each predetermined time period to calculate the activity quantity of the collar 6 a . The calculation unit 150 c associates the identification information with the activity quantity and stores the relationship in the activity quantity table 140 d.
  • FIG. 9 is a flowchart illustrating a processing procedure for identifying the color of a collar.
  • the identification unit 150 b of the activity quantity calculation apparatus 100 obtains a set image from the buffer 140 a (step S 101 ).
  • the identification unit 150 b detects the hue range of the predetermined area (step S 102 ).
  • the identification unit 150 b determines the hue range not included in the cowshed 1 based on the hue range of the predetermined area (step S 103 ).
  • the identification unit 150 b determines a color of each collar (step S 104 ).
  • the identification unit 150 b outputs the determination result (step S 105 ).
  • FIG. 10 is a flowchart illustrating a processing procedure for calculating the activity quantity of a cow.
  • the calculation unit 150 c of the activity quantity calculation apparatus 100 obtains a captured image from the buffer 140 a (step S 201 ).
  • the calculation unit 150 c compares the captured image and the recognition parameters 140 b and extracts an area corresponding to each of the collars 6 a to 6 c (step S 202 ).
  • the calculation unit 150 c calculates the coordinates of each of the collars 6 a to 6 c , and stores the coordinates in the detection table 140 c (step S 203 ).
  • the calculation unit 150 c calculates the activity quantity of a cow (step S 204 ).
  • the calculation unit 150 c stores the calculation result in the activity quantity table 140 d (step S 205 ). If the calculation unit 150 c continues the processing (step S 206 , Yes), the processing proceeds to step S 201 . If the calculation unit 150 c does not continue the processing (step S 206 , No), the processing is terminated.
  • the activity quantity calculation apparatus 100 repeats the processing for detecting the position of a collar that is attached to each cow and that has a different color with each other from the captured image, and calculates the amount of movement of each cow. Accordingly, in the case where a plurality of cows are included in a captured image, it is possible to calculate the activity quantities of the plurality of cows. In the present embodiment, a description has been given using cows, but it is possible to calculate the activity quantity of the other animals in the same manner.
  • the activity quantity calculation apparatus 100 identifies the colors included in a set image having a predetermined range captured by the camera 10 as the imaging range and outputs candidate colors of the collars in accordance with the identified colors. Thereby, the hue range of a collar is set so as not to overlap the hue range of the other collars. Also, the hue range of each collar is set in the range not including the hue included in a predetermined area of the cowshed 1 . Accordingly, it is possible to correctly detect the coordinates of each collar while distinguishing each collar.
  • FIG. 11 is a diagram illustrating an example of the hardware configuration of a computer that realizes the same functions as those of the activity quantity calculation apparatus.
  • a computer 200 includes a CPU 201 that performs various kinds of calculation processing, an input device 202 that receives data from a user, and a display 203 . Also, the computer 200 includes a reading device 204 that reads a program, or the like from a storage medium, and an interface device 205 that transmits data to and receives data from the other computers via a network. The computer 200 includes a camera 206 . Also, the computer 200 includes a RAM 207 that temporarily stores various kinds of information and a hard disk device 208 . Then each of the devices 201 to 208 is coupled to a bus 209 .
  • the hard disk device 208 has an acquisition program 208 a , an identification program 208 b , and a calculation program 208 c .
  • the CPU 201 reads the acquisition program 208 a , the identification program 208 b , and the calculation program 208 c and loads the programs into the RAM 207 .
  • the acquisition program 208 a functions as an acquisition process 207 a .
  • the identification program 208 b functions as an identification process 207 b .
  • the calculation program 208 c functions as a calculation process 207 c.
  • the processing of the acquisition process 207 a corresponds to the processing of the reception unit 150 a .
  • the processing of the identification process 207 b corresponds to the processing of the identification unit 150 b .
  • the processing of the calculation process 207 c corresponds to the processing of the calculation unit 150 c.
  • each of the programs 208 a to 208 c does not have to be stored in the hard disk device 208 from the beginning.
  • each program is stored in a “portable physical medium”, such as a flexible disk (FD), a CD-ROM, a DVD disc, a magneto-optical disk, an IC card, or the like that is to be inserted into the computer 200 .
  • the computer 200 may read and execute each of the programs 208 a to 208 c.

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JP2017047440A JP6834625B2 (ja) 2017-03-13 2017-03-13 行動量算出プログラム、行動量算出方法、行動量算出装置および動物監視システム
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